From 0793db02992915ee6f246d927646838142f944b5 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit.edu>
Date: Thu, 10 Nov 2022 13:47:02 +0100
Subject: [PATCH] RobotStateComponent: removing code from PlatformUnitListener
---
.../RobotState/RobotStateComponent.cpp | 39 -------------------
.../RobotState/RobotStateComponent.h | 15 -------
2 files changed, 54 deletions(-)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 4d4d2399b..a17005e6d 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -38,8 +38,6 @@
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/time/TimeUtil.h>
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-
using namespace Eigen;
using namespace Ice;
@@ -72,7 +70,6 @@ namespace armarx
defineOptionalProperty<int>("HistoryLength", 10000, "Number of entries in the robot state history").setMin(0);
defineOptionalProperty<float>("RobotModelScaling", 1.0f, "Scaling of the robot model");
defineOptionalProperty<std::string>("TopicPrefix", "", "Prefix for the sensor value topic name.");
- defineOptionalProperty<std::string>("PlatformTopicName", "PlatformState", "Topic where platform state is published.");
defineOptionalProperty<std::string>("GlobalRobotPoseLocalizationTopicName", "GlobalRobotPoseLocalization", "Topic where the global robot pose can be reported.");
}
@@ -149,7 +146,6 @@ namespace armarx
usingTopic(topicPrefix + robotNodeSetName + "State");
usingTopic(topicPrefix + getProperty<std::string>("GlobalRobotPoseLocalizationTopicName").getValue());
- usingTopic(topicPrefix + getProperty<std::string>("PlatformTopicName").getValue());
try
{
@@ -692,39 +688,4 @@ namespace armarx
return Timestamped<FramedPosePtr> {time, new FramedPose(globalPose, armarx::GlobalFrame, "")};
}
-
- // legacy
- void RobotStateComponent::reportPlatformPose(const PlatformPose& currentPose, const Current&)
- {
- const float z = 0;
- const Eigen::Vector3f position(currentPose.x, currentPose.y, z);
- const Eigen::Matrix3f orientation =
- Eigen::AngleAxisf(currentPose.rotationAroundZ, Eigen::Vector3f::UnitZ()).toRotationMatrix();
- const Eigen::Matrix4f globalPose = math::Helpers::Pose(position, orientation);
-
- IceUtil::Time time = IceUtil::Time::microSeconds(currentPose.timestampInMicroSeconds);
- // ARMARX_IMPORTANT << VAROUT(currentPose.timestampInMicroSeconds);
-
- TransformStamped stamped;
- stamped.header.frame = armarx::GlobalFrame;
- stamped.header.agent = _synchronized->getName();
- stamped.header.timestampInMicroSeconds = time.toMicroSeconds();
- stamped.header.parentFrame = "";
- stamped.transform = globalPose;
-
- this->reportGlobalRobotPose(stamped);
-
- /*
- * old:
- insertPose(time, globalPose);
-
- if (_sharedRobotServant)
- {
- _sharedRobotServant->setTimestamp(time);
- }
- */
- }
-
-
-
}
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 6a3b52763..d786dd0d6 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -128,20 +128,6 @@ namespace armarx
void setRobotStateObserver(RobotStateObserverPtr observer);
-
- // PlatformUnitListener interface
- // TODO: Remove this interface and use GlobalRobotPoseLocalizationListener only.
- /// Stores the platform pose in the pose history.
- void reportPlatformPose(const PlatformPose& currentPose, const Ice::Current& = Ice::emptyCurrent) override;
- /// Does nothing.
- void reportNewTargetPose(Ice::Float newPlatformPositionX, Ice::Float newPlatformPositionY, Ice::Float newPlatformRotation, const Ice::Current& = Ice::emptyCurrent) override {}
- /// Does nothing.
- void reportPlatformVelocity(Ice::Float currentPlatformVelocityX, Ice::Float currentPlatformVelocityY, Ice::Float currentPlatformVelocityRotation, const Ice::Current& = Ice::emptyCurrent) override {}
- /// Does nothing.
- void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current& = Ice::emptyCurrent) override {}
-
-
-
protected:
// Component interface.
@@ -239,4 +225,3 @@ namespace armarx
};
}
-
--
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